altos: Add split telemetry code

[fw/altos] / src / ao_telemetry.c

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index 6556ce3215668e345c7e1512b389efec85160f9a..024ac6f8a4021a68f56de65c38f28366cd9751c3 100644 (file)
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -1,5 +1,5 @@
 /*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -16,6 +16,7 @@
  */
 
 #include "ao.h"
+#include "ao_product.h"
 
 __xdata uint16_t ao_telemetry_interval = 0;
 __xdata uint8_t ao_rdf = 0;
@@ -24,44 +25,85 @@ __xdata uint16_t ao_rdf_time;
 #define AO_RDF_INTERVAL_TICKS  AO_SEC_TO_TICKS(5)
 #define AO_RDF_LENGTH_MS       500
 
+#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1)
+#define AO_TELEMETRY_SENSOR    AO_TELEMETRY_SENSOR_TELEMETRUM
+#endif
+
+#if defined(TELEMINI_V_0_1)
+#define AO_TELEMETRY_SENSOR    AO_TELEMETRY_SENSOR_TELEMINI
+#endif
+
+#if defined(TELENANO_V_0_1)
+#define AO_TELEMETRY_SENSOR    AO_TELEMETRY_SENSOR_TELENANO
+#endif
+
 void
 ao_telemetry(void)
 {
        uint16_t        time;
        int16_t         delay;
-       static __xdata struct ao_telemetry telemetry;
+       static __xdata union ao_telemetry_all   telemetry;
+       uint8_t         sample;
 
        ao_config_get();
        while (!ao_flight_number)
                ao_sleep(&ao_flight_number);
-       memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
-       telemetry.serial = ao_serial_number;
-       telemetry.flight = ao_log_full() ? 0 : ao_flight_number;
-       telemetry.accel_plus_g = ao_config.accel_plus_g;
-       telemetry.accel_minus_g = ao_config.accel_minus_g;
+
+       telemetry.generic.serial = ao_serial_number;
        for (;;) {
                while (ao_telemetry_interval == 0)
                        ao_sleep(&ao_telemetry_interval);
                time = ao_rdf_time = ao_time();
                while (ao_telemetry_interval) {
-                       telemetry.flight_state = ao_flight_state;
+
+                       /* Send sensor packet */
+                       sample = ao_sample_adc;
+                       
+                       telemetry.generic.tick = ao_adc_ring[sample].tick;
+                       telemetry.generic.type = AO_TELEMETRY_SENSOR;
+
+                       telemetry.sensor.state = ao_flight_state;
 #if HAS_ACCEL
-                       telemetry.flight_accel = ao_flight_accel;
-                       telemetry.ground_accel = ao_ground_accel;
-                       telemetry.flight_vel = ao_flight_vel;
-#endif
-                       telemetry.flight_pres = ao_flight_pres;
-                       telemetry.ground_pres = ao_ground_pres;
-#if HAS_ADC
-                       ao_adc_get(&telemetry.adc);
+                       telemetry.sensor.accel = ao_adc_ring[sample].accel;
+#else
+                       telemetry.sensor.accel = 0;
 #endif
-#if HAS_GPS
-                       ao_mutex_get(&ao_gps_mutex);
-                       memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
-                       memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
-                       ao_mutex_put(&ao_gps_mutex);
+                       telemetry.sensor.pres = ao_adc_ring[sample].pres;
+                       telemetry.sensor.temp = ao_adc_ring[sample].temp;
+                       telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
+#if HAS_IGNITE
+                       telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
+                       telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m;
+#else
+                       telemetry.sensor.sense_d = 0;
+                       telemetry.sensor.sense_m = 0;
 #endif
+
+                       telemetry.sensor.acceleration = ao_accel;
+                       telemetry.sensor.speed = ao_speed;
+                       telemetry.sensor.height = ao_height;
+
+                       telemetry.sensor.ground_pres = ao_ground_pres;
+                       telemetry.sensor.ground_accel = ao_ground_accel;
+                       telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
+                       telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
+
                        ao_radio_send(&telemetry, sizeof (telemetry));
+
+                       telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
+                       telemetry.configuration.device = AO_idProduct_NUMBER;
+                       telemetry.configuration.flight = ao_flight_number;
+                       telemetry.configuration.config_major = AO_CONFIG_MAJOR;
+                       telemetry.configuration.config_minor = AO_CONFIG_MINOR;
+                       telemetry.configuration.main_deploy = ao_config.main_deploy;
+                       telemetry.configuration.flight_log_max = ao_config.flight_log_max;
+                       memcpy (telemetry.configuration.callsign,
+                               ao_config.callsign,
+                               AO_MAX_CALLSIGN);
+                       memcpy (telemetry.configuration.version,
+                               ao_version,
+                               AO_MAX_VERSION);
+
                        if (ao_rdf &&
                            (int16_t) (ao_time() - ao_rdf_time) >= 0)
                        {